QGCVehicleConfig.cc

// On Windows (for VS2010) stdint.h contains the limits normally contained in limits.h
// It also needs the __STDC_LIMIT_MACROS macro defined in order to include them (done
// in qgroundcontrol.pri).
#ifdef WIN32
#include <stdint.h>
#else
#include <limits.h>
#endif

#include <QTimer>
#include <QDir>
#include <QXmlStreamReader>
#include <QMessageBox>

#include "QGCVehicleConfig.h"

#include "QGC.h"
#include "QGCToolWidget.h"
#include "UASManager.h"
#include "UASParameterCommsMgr.h"
#include "ui_QGCVehicleConfig.h"

QGCVehicleConfig::QGCVehicleConfig(QWidget *parent) :
    QWidget(parent),
    mav(NULL),
    chanCount(0),
    rcRoll(0.0f),
    rcPitch(0.0f),
    rcYaw(0.0f),
    rcThrottle(0.0f),
    rcMode(0.0f),
    rcAux1(0.0f),
    rcAux2(0.0f),
    rcAux3(0.0f),
    changed(true),
    rc_mode(RC_MODE_NONE),
    calibrationEnabled(false),
    ui(new Ui::QGCVehicleConfig)
{
    doneLoadingConfig = false;

    setObjectName("QGC_VEHICLECONFIG");
    ui->setupUi(this);

    ui->rollWidget->setOrientation(Qt::Horizontal);
    ui->rollWidget->setName("Roll");
    ui->yawWidget->setOrientation(Qt::Horizontal);
    ui->yawWidget->setName("Yaw");
    ui->pitchWidget->setName("Pitch");
    ui->throttleWidget->setName("Throttle");
    ui->radio5Widget->setOrientation(Qt::Horizontal);
    ui->radio5Widget->setName("Radio 5");
    ui->radio6Widget->setOrientation(Qt::Horizontal);
    ui->radio6Widget->setName("Radio 6");
    ui->radio7Widget->setOrientation(Qt::Horizontal);
    ui->radio7Widget->setName("Radio 7");
    ui->radio8Widget->setOrientation(Qt::Horizontal);
    ui->radio8Widget->setName("Radio 8");

    connect(ui->rcMenuButton,SIGNAL(clicked()),this,SLOT(rcMenuButtonClicked()));
    connect(ui->sensorMenuButton,SIGNAL(clicked()),this,SLOT(sensorMenuButtonClicked()));
    connect(ui->generalMenuButton,SIGNAL(clicked()),this,SLOT(generalMenuButtonClicked()));
    connect(ui->advancedMenuButton,SIGNAL(clicked()),this,SLOT(advancedMenuButtonClicked()));

    ui->rcModeComboBox->setCurrentIndex((int)rc_mode - 1);

    ui->rcCalibrationButton->setCheckable(true);
    connect(ui->rcCalibrationButton, SIGNAL(clicked(bool)), this, SLOT(toggleCalibrationRC(bool)));
    connect(ui->setButton, SIGNAL(clicked()), this, SLOT(writeParameters()));
    connect(ui->rcModeComboBox, SIGNAL(currentIndexChanged(int)), this, SLOT(setRCModeIndex(int)));
    //connect(ui->setTrimButton, SIGNAL(clicked()), this, SLOT(setTrimPositions()));

    /* Connect RC mapping assignments */
    connect(ui->rollSpinBox, SIGNAL(valueChanged(int)), this, SLOT(setRollChan(int)));
    connect(ui->pitchSpinBox, SIGNAL(valueChanged(int)), this, SLOT(setPitchChan(int)));
    connect(ui->yawSpinBox, SIGNAL(valueChanged(int)), this, SLOT(setYawChan(int)));
    connect(ui->throttleSpinBox, SIGNAL(valueChanged(int)), this, SLOT(setThrottleChan(int)));
    connect(ui->modeSpinBox, SIGNAL(valueChanged(int)), this, SLOT(setModeChan(int)));
    connect(ui->aux1SpinBox, SIGNAL(valueChanged(int)), this, SLOT(setAux1Chan(int)));
    connect(ui->aux2SpinBox, SIGNAL(valueChanged(int)), this, SLOT(setAux2Chan(int)));
    connect(ui->aux3SpinBox, SIGNAL(valueChanged(int)), this, SLOT(setAux3Chan(int)));

    // Connect RC reverse assignments
    connect(ui->invertCheckBox, SIGNAL(clicked(bool)), this, SLOT(setRollInverted(bool)));
    connect(ui->invertCheckBox_2, SIGNAL(clicked(bool)), this, SLOT(setPitchInverted(bool)));
    connect(ui->invertCheckBox_3, SIGNAL(clicked(bool)), this, SLOT(setYawInverted(bool)));
    connect(ui->invertCheckBox_4, SIGNAL(clicked(bool)), this, SLOT(setThrottleInverted(bool)));
    connect(ui->invertCheckBox_5, SIGNAL(clicked(bool)), this, SLOT(setModeInverted(bool)));
    connect(ui->invertCheckBox_6, SIGNAL(clicked(bool)), this, SLOT(setAux1Inverted(bool)));
    connect(ui->invertCheckBox_7, SIGNAL(clicked(bool)), this, SLOT(setAux2Inverted(bool)));
    connect(ui->invertCheckBox_8, SIGNAL(clicked(bool)), this, SLOT(setAux3Inverted(bool)));

    connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));

    setActiveUAS(UASManager::instance()->getActiveUAS());

    for (unsigned int i = 0; i < chanMax; i++)
    {
        rcValue[i] = UINT16_MAX;
        rcMapping[i] = i;
    }

    updateTimer.setInterval(150);
    connect(&updateTimer, SIGNAL(timeout()), this, SLOT(updateView()));
    updateTimer.start();

    ui->advancedGroupBox->hide();
    connect(ui->advancedCheckBox,SIGNAL(toggled(bool)),ui->advancedGroupBox,SLOT(setShown(bool)));
}
void QGCVehicleConfig::rcMenuButtonClicked()
{
    ui->stackedWidget->setCurrentIndex(0);
}

void QGCVehicleConfig::sensorMenuButtonClicked()
{
    ui->stackedWidget->setCurrentIndex(1);
}

void QGCVehicleConfig::generalMenuButtonClicked()
{
    ui->stackedWidget->setCurrentIndex(ui->stackedWidget->count()-2);
}

void QGCVehicleConfig::advancedMenuButtonClicked()
{
    ui->stackedWidget->setCurrentIndex(ui->stackedWidget->count()-1);
}

QGCVehicleConfig::~QGCVehicleConfig()
{
    delete ui;
}

void QGCVehicleConfig::setRCModeIndex(int newRcMode)
{
    if (newRcMode > 0 && newRcMode < 6)
    {
        //rc_mode = (enum RC_MODE) (newRcMode+1);
        changed = true;
    }
}

void QGCVehicleConfig::toggleCalibrationRC(bool enabled)
{
    if (enabled)
    {
        startCalibrationRC();
    }
    else
    {
        stopCalibrationRC();
    }
}

void QGCVehicleConfig::setTrimPositions()
{
    // Set trim to min if stick is close to min
    if (abs(rcValue[rcMapping[3]] - rcMin[rcMapping[3]]) < 100)
    {
        rcTrim[rcMapping[3]] = rcMin[rcMapping[3]];   // throttle
    }
    // Set trim to max if stick is close to max
    else if (abs(rcValue[rcMapping[3]] - rcMax[rcMapping[3]]) < 100)
    {
        rcTrim[rcMapping[3]] = rcMax[rcMapping[3]];   // throttle
    }
    else
    {

        // Reject
        QMessageBox msgBox;
        msgBox.setText(tr("Throttle Stick Trim Position Invalid"));
        msgBox.setInformativeText(tr("The throttle stick is not in the min position. Please set it to the minimum value"));
        msgBox.setStandardButtons(QMessageBox::Ok);
        msgBox.setDefaultButton(QMessageBox::Ok);
        (void)msgBox.exec();
    }

    // Set trim for roll, pitch, yaw, throttle
    rcTrim[rcMapping[0]] = rcValue[rcMapping[0]]; // roll
    rcTrim[rcMapping[1]] = rcValue[rcMapping[1]]; // pitch
    rcTrim[rcMapping[2]] = rcValue[rcMapping[2]]; // yaw

    rcTrim[rcMapping[4]] = ((rcMax[rcMapping[4]] - rcMin[rcMapping[4]]) / 2.0f) + rcMin[rcMapping[4]];   // mode sw
    rcTrim[rcMapping[5]] = ((rcMax[rcMapping[5]] - rcMin[rcMapping[5]]) / 2.0f) + rcMin[rcMapping[5]];   // aux 1
    rcTrim[rcMapping[6]] = ((rcMax[rcMapping[6]] - rcMin[rcMapping[6]]) / 2.0f) + rcMin[rcMapping[6]];   // aux 2
    rcTrim[rcMapping[7]] = ((rcMax[rcMapping[7]] - rcMin[rcMapping[7]]) / 2.0f) + rcMin[rcMapping[7]];   // aux 3
}

void QGCVehicleConfig::detectChannelInversion()
{

}

void QGCVehicleConfig::startCalibrationRC()
{
    QMessageBox::information(0,"Warning!","You are about to start radio calibration.\nPlease ensure all motor power is disconnected AND all props are removed from the vehicle.\nAlso ensure transmitter and reciever are powered and connected\n\nClick OK to confirm");
    QMessageBox::information(0,"Information","Click OK, then move all sticks to their extreme positions, watching the min/max values to ensure you get the most range from your controller. This includes all switches");
    ui->rcTypeComboBox->setEnabled(false);